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Delay-Dependent Robust H ∞ Output Tracking Control for Uncertain Networked Control Systems

IFAC Proceedings Volumes 2011年第1期44卷 3256-3261页

作者： Luis F.C. Figueredo João Y. Ishihara Geovany A. Borges Adolfo Bauchspiess Automation and Robotics Laboratory (LARA) Dept. of Electrical Engineering University of Brasilia Brasilia 70919970 Brazil

Abstract In this paper, the H ∞ output tracking problem for networked control systems (NCSs) liable to model uncertainties and with delays varying within intervals is investigated. A new method is proposed to the robust H ∞ output tracking analysis and control design for NCSs. The results presented here are an improvement over previous ones, for the analysis incorporates state-of-the-art stability techniques for systems with time-varying delays such as convex optimization technique, piecewise analysis method, and a new delay fractioning approach with the introduction of a novel auxiliary delayed state. The analysis is enriched with a numerical example that illustrates the advantages of our criteria which outperform previous criteria in the literature. Moreover, an illustrative example shows the effectiveness of the proposed H ∞ output tracking control design.

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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Low speed control of an autonomous vehicle using a hybrid fractional order controller

Low speed control of an autonomous vehicle using a hybrid fr...

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International Conference on Control, Instrumentation, and automation

作者： S. Hassan HosseinNia Inés Tejado Blas M. Vinagre Vicente Milanés Jorge Villagrá Dept. of Electrical Electronic and Automation Engineering University of Extremadura Badajoz Spain AUTOPIA Program Centre for Automation and Robotics (CAR UPM-CSIC) Madrid Spain

Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. In this paper, based on a previous fractional order speed control, an improved fractional order control is presented to control a commercial Citroën C3 prototype - which has automatic driving capabilities - at low speeds, which considers a hybrid model of the vehicle. Specifically, two different fractional order PI α controllers are designed to act over the throttle and brake pedals, respectively. Concerning to the uncertain dynamics of the system during the brake action parameters are tuned to design a robust controller. In addition, the system is modeled as hybrid fractional order differential inclusions. Experimental and simulation results, obtained in a real circuit, are given to demonstrate the effectiveness of the proposed strategies for cruise control at low speeds.

关键词： Vehicles Vehicle dynamics Robustness Acceleration Control systems Integrated circuit modeling Global Positioning System

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Erratum to “Machine tool feed drives” [CIRP Ann. Manuf. Technol. 60 (2011) 779–796]

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CIRP Annals 2012年第2期61卷 837-837页

作者： Y. Altintas A. Verl C. Brecher L. Uriarte G. Pritschow Manufacturing Automation Laboratory University of British Columbia Vancouver Canada Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Stuttgart Germany Machine Tool Laboratory (WZL) University of Aachen Germany Mechatronics Dept. – Tekniker-IK4 Eibar Basque Country Spain

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An equivalent electrical model for numerical analyses of ODEP manipulation

An equivalent electrical model for numerical analyses of ODE...

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6th IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2011

作者： Liang, Wenfeng Wang, Shue Qu, Yanli Dong, Zaili Lee, Gwo-Bin Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate University Chinese Academy of Sciences 100049 China Center for Micro/Nano Technology Research National Cheng Kung University Taiwan Dept. of Mechanical and Automation Engineering Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612847757

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in dept. and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1m, ODEP can theoretically manipulate 100nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced. © 2011 IEEE.

关键词： Electrophoresis

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A new Cartesian cutting robot with laser height control system

A new Cartesian cutting robot with laser height control syst...

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2011 IEEE International Conference on Mechatronics and automation, ICMA 2011

作者： Qi, Ronghuai Qian, Huihuan Lam, Tin Lun Xu, Yangsheng Zhang, Tao Zhu, Wei Zhang, Feng Liao, Jianxiong Dept. of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong Institute of Industrial Robotics Kunshan Industrial Technology Research Institute Kunshang Jiangsu Province China Kunshan Huaheng Welding Co. Ltd. Kunshang Jiangsu Province China

ISBN: (纸本)9781424481149

In this paper, a new Cartesian gas cutting robot was designed, which had five servo motors and six stepped motors. Also, we developed a three-torch model and studied algorithm and boundary conditions that were pretty available for three-torch device and experiment verified this theory. A laser height control system was also developed in this robot. And the experiments certified that the model was effective and could be satisfy with the actual industrial needs. Meanwhile, the laser height control system could realize height tracking when the surface of the steel was not flat. © 2011 IEEE.

关键词： Robots

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A cooperation scenario for multiagent systems

A cooperation scenario for multiagent systems

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IEEE Africon'11

作者： Pozna, Claudiu Precup, Radu-Emil Kóczy, László T. Minculete, Nicuşor Ballagi, Áron Department of Informatics Széchenyi István University 9026 Gyõr Hungary Dept. of Production Design and Robotics Transilvania Univ. Brasov 500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara 300223 Timisoara Romania Faculty of Engineering Sciences Széchenyi István University 9026 Gyõr Hungary Department of Telecommunications and Media Informatics BUTE 1117 Budapest Hungary Faculty of International Economic Relations Dimitrie Cantemir University of Brasov 500068 Brasov Romania Department of Automation Széchenyi István University 9026 Gyõr Hungary

ISBN: (纸本)9781612849928

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a trivial multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace. © 2011 IEEE.

关键词： Brick

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Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Hou, Jing Wu, Chengdong Liu, Lianqing Wang, Zhidong Dong, Zaili Dept. of Electrical and Computer Engineering Northeastern University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424470334

In developing nano-devices and nano-structures, traditional methodologies on MEMS meet the difficulty from the scale restriction. With the strategy of objects assembly, using AFM to handle nano-rods and other nano-objects is considered as an important and high potential technology in constructing nanostructures. However most of AFM only has one tip as the end effector and cannot control both translational and rotational motions during manipulation, this makes it be difficult to realize posture controllable manipulation especially in nano environment. In this paper, the behavior of nano-rod under pushing is theoretically analyzed and modeled. Viscous friction is incorporated in the model and the two situations that the pivot of the nanorod is either inside or outside the rod are addressed. By modeling, the pivot can be determined at each manipulation in real time, and the pushing points can be planned to realize posture controllable manipulation by using nano-hand strategy which is inspired by stable pushing theory of object manipulation in macro world, and to improve the reliability and the precision of manipulation. ©2010 IEEE.

关键词： Nanorods

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Nanoscale welding of MWCNTs for nanodevice applications

Nanoscale welding of MWCNTs for nanodevice applications

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2010 4th IEEE Nanotechnology Materials and Devices Conference, NMDC2010

作者： Yu, Haibo Dong, Zaili Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation CAS 110016 China University of the Chinese Academy of Sciences 100049 China Dept. of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781424488964

This paper describes a process to perform nanoscale welding of multi-walled carbon nanotubes (MWCNTs) using a conductive atomic force microscopy (AFM) tip. An AFM tip can be used not only to apply a mechanical force to push, drag or scratch a sample, but also to exert an electrostatic force between the conductive tip and a sample substrate by applying a bias voltage. This electrostatic field will be extremely high, due to the phenomenon of local field enhancement. Such a high electric field will provide enough energy for the metal atoms to evaporate from the conductive tip. In this paper, a model is developed to simulate the electrostatic field by adjusting the distance and the bias voltage between the conductive tip and substrate. The simulation results show that the radius of the conductive tip, the bias voltage and the gap distance will all affect the electric field intensity. In our experiments, MWCNTs are first assembled between a pair of electrodes using a dielectrophoresis (DEP) technique. Then, an electrostatic field is applied to weld MWCNTs onto the surface of microelectrodes. The experimental results show that MWCNTs can effectively be welded and the electronics performance can also be greatly improved. © 2010 IEEE.

关键词： Electric fields

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A probabilistic approach for on-line positioning in nano manipulations

A probabilistic approach for on-line positioning in nano man...

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2010 8th World Congress on Intelligent Control and automation, WCICA 2010

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University Chinese Academy of Sciences Beijing 100039 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan Dept. of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9781424467129

Nanomanipulation and nanoassembly using atom force microscopy (AFM) is a potential and promising technology for nanomanufacturing. Precise position of the tip of AFM is important to increase the accuracy and efficiency on fabricate complex nanostructures. However at the nano-scale, it is difficult to acquire the tip position expressed by the coordinate in real time due to PZT nonlinearity and thermal drift through the general measure. In this paper, a probabilistic approach incorporating a Kalman filter based localization algorithm is introduced into the on-line estimation of the tip position expressed by probability distribution known as probability density function. A probabilistic motion model of AFM tip is introduced that consists of a PZT dynamic model based on the Prandtl-Ishlinskii (PI) model, and motion error distribution obtained from calibration experiments. An observation model by using a local scanning algorithm is proposed and the change of uncertainty distribution on scanning landmarks, e.g. nano-particles, near the target position is analyzed. Some experiment results are included for showing the motion error distribution and a simulation result is presented to illustrate the validity of the proposed method. © 2010 IEEE.

关键词： Kalman filters

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